Position Control of Pneumatic System Using High Gain and Backstepping Controllers

Abstract

This paper investigates the applicability of two state feedback controllers for a class of uniformly controllable and observable nonlinear systems. The first one is based on an appropriate high gain control principle that has been developed by duality from the high gain observer principle. The state feedback control gain is particularly provided by a synthesis function satisfying a well-defined condition, leading thereby to a unification of the high gain control designs. The second one is a backstepping controller that has been developed from a suitable combination of the backstepping control approach bearing in mind the high gain control principle pursued for the first controller design. A common engineering design feature that is worth to be mentioned consists in properly formulating their underlying control problems as a regulation problem involving a suitable reference model with respect to the structure of the system as well as the control design principle under consideration. Of fundamental interest, the involved reference model is systematically derived thanks to the flatness and backstepping principles using an appropriate Lyapunov approach. An experimental evaluation is carried out to illustrate the efficiency of the proposed nonlinear controllers.

Average Modeling and Nonlinear Observer Design for Pneumatic Actuators With On/Off Solenoid Valves

“…At a first glance, one may link Eqn. (6) to the T-S fuzzy modeling [24,25]. However, the average modeling and T-S modeling are fundamentally different.…”

“…In contrast to the rich literature and different control techniques of pneumatic actuators with servo-valves, see for instance [1][2][3][4][5][6], the literature on pneumatic actuators equipped with on/off solenoid valves remains limited due to the challenges mentioned earlier. The control of these systems was traditionally carried out using hybrid and sequential control, see for instance [7,8] and the references within.…”

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

“…Some solutions are also based on Fuzzy Logic (FL), neural network-based models and Neuro-Fuzzy control [30]. Latest research in position control of pneumatic actuators promote, for instance, the use of high gain approach combined with backstepping control [75]. It is difficult to compare the performance of all these approaches as they have not been tested on the same bench.…”

A multi-objective optimized fuzzy back-stepping controller for a nonlinear unmanned aerial vehicle

“…Poultney and Gong have studied an integral back-stepping controller for trajectory and yaw motion tracking of quadcopters [8]. Hajji and Ayadi have utilized back-stepping and high gain stabilizers in a pneumatic system to accomplish the position control [9]. Moreover, Hu and Meng have studied a longitudinal flight controller for airbreathing hypersonic vehicles carrying aerodynamic uncertainties, input nonlinearities and flexible modes, through applying an inverse dynamic controller as well as an adaptive back-stepping technique [10].…”